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<h1>mindsensors-rcxmotormux.h</h1>  </div>
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<div class="contents">
<a href="mindsensors-rcxmotormux_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup mindsensors</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup msmtrmx RCX Motor MUX</span>
<a name="l00004"></a>00004 <span class="comment"> * RCX Motor MUX</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: mindsensors-rcxmotormux.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 <span class="comment"></span>
<a name="l00012"></a>00012 <span class="comment">/** \file mindsensors-rcxmotormux.h</span>
<a name="l00013"></a>00013 <span class="comment"> * \brief RobotC Mindsensors RCX Motor MUX Driver</span>
<a name="l00014"></a>00014 <span class="comment"> *</span>
<a name="l00015"></a>00015 <span class="comment"> * mindsensors-rcxmotormux.h provides an API for the Mindsensors RCX Motor MUX Driver.</span>
<a name="l00016"></a>00016 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00017"></a>00017 <span class="comment"> *</span>
<a name="l00018"></a>00018 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00019"></a>00019 <span class="comment"></span>
<a name="l00020"></a>00020 <span class="comment"> * \author Daniel Playfair Cal (daniel.playfair.cal_at_gmail.com)</span>
<a name="l00021"></a>00021 <span class="comment"> * \date 2011-09-20</span>
<a name="l00022"></a>00022 <span class="comment"> * \version 2</span>
<a name="l00023"></a>00023 <span class="comment"> * \example mindsensors-rcxmotormux-test1.c</span>
<a name="l00024"></a>00024 <span class="comment"> */</span>
<a name="l00025"></a>00025 
<a name="l00026"></a>00026 <span class="preprocessor">#pragma systemFile</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef __COMMON_H__</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#include &quot;<a class="code" href="common_8h.html" title="Commonly used functions used by drivers.">common.h</a>&quot;</span>
<a name="l00030"></a>00030 <span class="preprocessor">#endif</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00032"></a>00032 <span class="comment">/*! i2c address/registers */</span>
<a name="l00033"></a><a class="code" href="group__msmtrmx.html#ga7781014c111bfa3313bfed7754297e3f">00033</a> <span class="preprocessor">#define MSMTRMX_I2C_ADDR       0xB4      </span><span class="comment">/*!&lt; MSMTRMX I2C device address */</span>
<a name="l00034"></a><a class="code" href="group__msmtrmx.html#gabef3c5f24192db815003a684866353cf">00034</a> <span class="preprocessor">#define MSMTRMX_MOTOR_REG     0x42      </span><span class="comment">/*!&lt; Motor address */</span>
<a name="l00035"></a>00035 <span class="comment"></span>
<a name="l00036"></a>00036 <span class="comment">/*! motor settings struct, each motor can be set to one of these modes */</span>
<a name="l00037"></a><a class="code" href="group__msmtrmx.html#ga31f25843746b208a87d793fcad243c29">00037</a> <span class="keyword">typedef</span> <span class="keyword">enum</span> {
<a name="l00038"></a><a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29a80f6b1c803bb06040db747f79e10f647">00038</a>   <a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29a80f6b1c803bb06040db747f79e10f647">MSMTRMX_MODE_FLOAT</a> = 0,
<a name="l00039"></a><a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29a19f9761620eee8451c2c17731e1d31ef">00039</a>   <a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29a19f9761620eee8451c2c17731e1d31ef">MSMTRMX_MODE_FORWARD</a> = 1,
<a name="l00040"></a><a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29aca501021be8cad3959e95fdea6a728e3">00040</a>   <a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29aca501021be8cad3959e95fdea6a728e3">MSMTRMX_MODE_REVERSE</a> = 2,
<a name="l00041"></a><a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29aac0953c88f2a1483f46c76e66bb13396">00041</a>   <a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29aac0953c88f2a1483f46c76e66bb13396">MSMTRMX_MODE_BRAKE</a> = 3
<a name="l00042"></a>00042 } <a class="code" href="group__msmtrmx.html#ga31f25843746b208a87d793fcad243c29">tMSMTRMXSettings</a>;
<a name="l00043"></a>00043 <span class="comment"></span>
<a name="l00044"></a>00044 <span class="comment">/*! motors struct, these are the four motor channels on the MUX */</span>
<a name="l00045"></a><a class="code" href="group__msmtrmx.html#gac6569ab3e3f6a2aa0bd679d2a18b36c5">00045</a> <span class="keyword">typedef</span> <span class="keyword">enum</span> {
<a name="l00046"></a><a class="code" href="group__msmtrmx.html#ggac6569ab3e3f6a2aa0bd679d2a18b36c5a64f2d42d079c42b6c817dd6a197c7f44">00046</a>   <a class="code" href="group__msmtrmx.html#ggac6569ab3e3f6a2aa0bd679d2a18b36c5a64f2d42d079c42b6c817dd6a197c7f44">MSMTRMX_M1</a> = 0,
<a name="l00047"></a><a class="code" href="group__msmtrmx.html#ggac6569ab3e3f6a2aa0bd679d2a18b36c5a1ec8ccc91490001f794abb74979f12c7">00047</a>   <a class="code" href="group__msmtrmx.html#ggac6569ab3e3f6a2aa0bd679d2a18b36c5a1ec8ccc91490001f794abb74979f12c7">MSMTRMX_M2</a> = 1,
<a name="l00048"></a><a class="code" href="group__msmtrmx.html#ggac6569ab3e3f6a2aa0bd679d2a18b36c5ae77b9eca6f4279743c890c36964f04df">00048</a>   <a class="code" href="group__msmtrmx.html#ggac6569ab3e3f6a2aa0bd679d2a18b36c5ae77b9eca6f4279743c890c36964f04df">MSMTRMX_M3</a> = 2,
<a name="l00049"></a><a class="code" href="group__msmtrmx.html#ggac6569ab3e3f6a2aa0bd679d2a18b36c5ad113520b7e049da15197e33030406c1c">00049</a>   <a class="code" href="group__msmtrmx.html#ggac6569ab3e3f6a2aa0bd679d2a18b36c5ad113520b7e049da15197e33030406c1c">MSMTRMX_M4</a> = 3
<a name="l00050"></a>00050 } <a class="code" href="group__msmtrmx.html#gac6569ab3e3f6a2aa0bd679d2a18b36c5">tMSMTRMXMotors</a>;
<a name="l00051"></a>00051 
<a name="l00052"></a><a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">00052</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>;       <span class="comment">/*!&lt; Array to hold I2C command data */</span>
<a name="l00053"></a>00053 <span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment">/*! Function prototypes */</span>
<a name="l00055"></a>00055 <span class="keywordtype">bool</span> <a class="code" href="group__msmtrmx.html#ga9d123ef3b2b23693ca20680d36039eab">MSMTRMX_Control</a>(tSensors link, <a class="code" href="group__msmtrmx.html#gac6569ab3e3f6a2aa0bd679d2a18b36c5">tMSMTRMXMotors</a> channel, <span class="keywordtype">int</span> power, ubyte address = <a class="code" href="group__msmtrmx.html#ga7781014c111bfa3313bfed7754297e3f">MSMTRMX_I2C_ADDR</a>);
<a name="l00056"></a>00056 <span class="keywordtype">bool</span> <a class="code" href="group__msmtrmx.html#ga715a0828ba4632b83617903093132021">MSMTRMX_Brake</a>(tSensors link, <a class="code" href="group__msmtrmx.html#gac6569ab3e3f6a2aa0bd679d2a18b36c5">tMSMTRMXMotors</a> channel, <span class="keywordtype">unsigned</span> byte brakeForce, ubyte address = <a class="code" href="group__msmtrmx.html#ga7781014c111bfa3313bfed7754297e3f">MSMTRMX_I2C_ADDR</a>);
<a name="l00057"></a>00057 
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment">/**</span>
<a name="l00060"></a>00060 <span class="comment"> * This function sets the specified motor to the given power level,</span>
<a name="l00061"></a>00061 <span class="comment"> * with the motor floated at speed zero. The controller floats during</span>
<a name="l00062"></a>00062 <span class="comment"> * inactive PWM periods.</span>
<a name="l00063"></a>00063 <span class="comment"> * @param link port number</span>
<a name="l00064"></a>00064 <span class="comment"> * @param channel motor number</span>
<a name="l00065"></a>00065 <span class="comment"> * @param power speed to set the motor to (-255 to +255)</span>
<a name="l00066"></a>00066 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0xB4</span>
<a name="l00067"></a>00067 <span class="comment"> * @return true if message is sent successfully</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a><a class="code" href="group__msmtrmx.html#ga9d123ef3b2b23693ca20680d36039eab">00069</a> <span class="keywordtype">bool</span> <a class="code" href="group__msmtrmx.html#ga9d123ef3b2b23693ca20680d36039eab">MSMTRMX_Control</a>(tSensors link, <a class="code" href="group__msmtrmx.html#gac6569ab3e3f6a2aa0bd679d2a18b36c5">tMSMTRMXMotors</a> channel, <span class="keywordtype">int</span> power, ubyte address) {
<a name="l00070"></a>00070   <a class="code" href="group__msmtrmx.html#ga31f25843746b208a87d793fcad243c29">tMSMTRMXSettings</a> dir;
<a name="l00071"></a>00071 
<a name="l00072"></a>00072   <span class="keywordflow">if</span> (power == 0) {
<a name="l00073"></a>00073     dir = <a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29aac0953c88f2a1483f46c76e66bb13396">MSMTRMX_MODE_BRAKE</a>;
<a name="l00074"></a>00074     power = 0;
<a name="l00075"></a>00075   }
<a name="l00076"></a>00076   <span class="keywordflow">else</span> <span class="keywordflow">if</span> (power &lt; 0) {
<a name="l00077"></a>00077     dir = <a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29aca501021be8cad3959e95fdea6a728e3">MSMTRMX_MODE_REVERSE</a>;
<a name="l00078"></a>00078     power = -power;
<a name="l00079"></a>00079   }
<a name="l00080"></a>00080   <span class="keywordflow">else</span> <span class="keywordflow">if</span> (power &gt; 0) {
<a name="l00081"></a>00081     dir = <a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29a19f9761620eee8451c2c17731e1d31ef">MSMTRMX_MODE_FORWARD</a>;
<a name="l00082"></a>00082   }
<a name="l00083"></a>00083 
<a name="l00084"></a>00084   memset(<a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00085"></a>00085 
<a name="l00086"></a>00086   <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>[0] = 4;
<a name="l00087"></a>00087   <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>[1] = address;
<a name="l00088"></a>00088   <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>[2] = <a class="code" href="group__msmtrmx.html#gabef3c5f24192db815003a684866353cf">MSMTRMX_MOTOR_REG</a> + channel * 2;
<a name="l00089"></a>00089   <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>[3] = (ubyte) dir;
<a name="l00090"></a>00090   <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>[4] = power;
<a name="l00091"></a>00091 
<a name="l00092"></a>00092   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>)) {
<a name="l00093"></a>00093     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00094"></a>00094   }
<a name="l00095"></a>00095 
<a name="l00096"></a>00096   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 
<a name="l00099"></a>00099 <span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment">/**</span>
<a name="l00101"></a>00101 <span class="comment"> * This function applies the specified braking power to the specified motor</span>
<a name="l00102"></a>00102 <span class="comment"> * @param link port number</span>
<a name="l00103"></a>00103 <span class="comment"> * @param channel motor number</span>
<a name="l00104"></a>00104 <span class="comment"> * @param brakeForce brake power to set the motor to (0-255, 0 == float)</span>
<a name="l00105"></a>00105 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0xB4</span>
<a name="l00106"></a>00106 <span class="comment"> * @return true if message is sent successfully</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a><a class="code" href="group__msmtrmx.html#ga715a0828ba4632b83617903093132021">00108</a> <span class="keywordtype">bool</span> <a class="code" href="group__msmtrmx.html#ga715a0828ba4632b83617903093132021">MSMTRMX_Brake</a>(tSensors link, <a class="code" href="group__msmtrmx.html#gac6569ab3e3f6a2aa0bd679d2a18b36c5">tMSMTRMXMotors</a> channel, <span class="keywordtype">unsigned</span> byte brakeForce, ubyte address) {
<a name="l00109"></a>00109 
<a name="l00110"></a>00110   memset(<a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00111"></a>00111 
<a name="l00112"></a>00112   <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>[0] = 4;
<a name="l00113"></a>00113   <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>[1] = address;
<a name="l00114"></a>00114   <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>[2] = <a class="code" href="group__msmtrmx.html#gabef3c5f24192db815003a684866353cf">MSMTRMX_MOTOR_REG</a> + channel * 2;
<a name="l00115"></a>00115   <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>[3] = (ubyte) <a class="code" href="group__msmtrmx.html#gga31f25843746b208a87d793fcad243c29aac0953c88f2a1483f46c76e66bb13396">MSMTRMX_MODE_BRAKE</a>;
<a name="l00116"></a>00116   <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>[4] = brakeForce;
<a name="l00117"></a>00117 
<a name="l00118"></a>00118   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msmtrmx.html#ga42f810b071ebd8aad64978a3e4c9f35e">MSMTRMX_I2CMessage</a>)) {
<a name="l00119"></a>00119     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00120"></a>00120   }
<a name="l00121"></a>00121 
<a name="l00122"></a>00122   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124 
<a name="l00125"></a>00125 <span class="comment">/*</span>
<a name="l00126"></a>00126 <span class="comment"> * $Id: mindsensors-rcxmotormux.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00127"></a>00127 <span class="comment"> */</span>
<a name="l00128"></a>00128 
<a name="l00129"></a>00129 <span class="comment">/* @} */</span>
<a name="l00130"></a>00130 <span class="comment">/* @} */</span>
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